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If you have not read the information explaining the custom path feature, then please refer to this page before reading onwards: Customize the Robot's Path |
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In Short: MovePerformed
MovePerformedA boolean value that Pally uses to check if it should move the robot |
on the path created by Pally. |
Possible values
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Possible values
True - Pally will move the robot from the pickup position Example
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In Detail: MovePerformed
The MovePerformed variable is only of importance when the custom path feature is in use. If this boolean variable is set to True, then Pally will skip its next planned movement. Depending on where the variable is set to True the following movements will be skipped:
onNextTask: skip movement to the pick position (available in Pally 2.9.0 and later)
afterGrab: skip movement from the pick position to the target position on the pallet
afterRelease: skip movement from the target position back to the waiting position
of the robot to- and from the pickup position, to the target position (and back again).
In the Pally code, the logic looks like this:
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global MovePerformed = False # USERCALLBACK usercallback_onNextTask() if (not MovePerformed): MoveToPickup(path) end # USERCALLBACK usercallback_beforeGrab() |
If MovePerformed is set to True in the onNextTask-callback, then Pally will not call on the function to move the robot
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to the
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Example
If a customPath.script is defined with two functions MoveToTarget() and MoveBack(), and rf_custom_path = True; then MovePerformed must be set at the end of both MoveToTarget() and MoveBack() as follows:
MovePerformed = True
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pick position
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global MovePerformed = False
# USERCALLBACK
usercallback_afterGrab()
if (not MovePerformed):
MoveToTarget(path)
end |
If MovePerformed is set to True in the afterGrab-callback, then Pally will not call on the function to move the robot to the target position
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global MovePerformed = False
# USERCALLBACK
usercallback_afterRelease()
if (not MovePerformed):
MoveBackFromTarget(path)
end |
If MovePerformed is set to True in the afterRelease-callback, then Pally will not call on the function to move the robot back from the target position
The following example of a customPath.script shows how the MovePerformed variable is set to True at the end of the customized move functions, on lines 80 and 94:
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p_boxfree = p[0,0,0,0,0,0]
p_boxfree2= p[0,0,0,0,0,0]
p_boxfree3= p[0,0,0,0,0,0]
p_exit= p[0,0,0,0,0,0]
j_exit = [0,0,0,0,0,0]
p_approach = p[0,0,0,0,0,0]
p_waypoint = p[0,0,0,0,0,0]
rf_custom_path = True
def MoveToTarget():
if (rf_custom_path):
# move up
p_boxfree = pose_trans(get_actual_tcp_pose(), p[0,0,-rf_box_free,0,0,0])
# move closer to the robot
p_boxfree2= p_boxfree
d = sqrt(rf_camera[0] * rf_camera[0] + rf_camera[1] * rf_camera[1]) / sqrt(p_boxfree2[0] * p_boxfree2[0] + p_boxfree2[1] * p_boxfree2[1])
p_boxfree2[0] = p_boxfree2[0] * d
p_boxfree2[1] = p_boxfree2[1] * d
# move up
p_boxfree3= p_boxfree2
if (MoveTarget[2] + ProductHeight > p_boxfree3[2]):
p_boxfree3[2] = MoveTarget[2] + ProductHeight
end
# move away from the conveyor and rotate
if (PalletNr == 1):
p_exit = pose_trans(p[-0.35, 0, 0, 0, 0, 0], p_boxfree3)
else:
p_exit = pose_trans(p[0.35, 0, 0, 0, 0, 0], p_boxfree3)
end
p_exit[3] = MoveTarget[3]
p_exit[4] = MoveTarget[4]
p_exit[5] = MoveTarget[5]
# approach the pallet
if (PalletNr == 1):
p_approach = pose_trans(p[0.05, -0.05, 0.05, 0, 0, 0], MoveTarget)
else:
p_approach = pose_trans(p[-0.05, -0.05, 0.05, 0, 0, 0], MoveTarget)
end
# this may be actual for the top layer:
# the approach should be closer than usual to have enough reach
if (not is_within_safety_limits(p_approach)):
# should not use normally
p_approach = MoveTarget
end
# a waypoint before approach
p_waypoint = p_approach
if (p_waypoint[2] < p_boxfree[2]):
p_waypoint[2] = p_boxfree[2]
end
if (p_waypoint[2] < MoveTarget[2] + ProductHeight + rf_approach[2]):
p_waypoint[2] = MoveTarget[2] + ProductHeight + rf_approach[2]
end
movel(p_boxfree, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_boxfree, p_boxfree2))
movel(p_boxfree2, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_boxfree2, p_boxfree3))
movel(p_boxfree3, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_boxfree3, p_exit))
movel(p_exit, a=rf_max_acceleration, v=rf_speed, r=0.01)
j_exit = get_actual_joint_positions()
if (is_within_safety_limits(p_waypoint)):
movej(p_waypoint, a=rf_max_acceleration, v=rf_speed, r=0.01)
movel(p_approach, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_approach, MoveTarget))
else:
movej(p_approach, a=rf_max_acceleration, v=rf_speed, r=0.01)
end
movel(MoveTarget, a=rf_precise_acceleration, v=rf_precise_speed, r=0)
MovePerformed=True
end
end
def MoveBack():
if (rf_custom_path):
if (is_within_safety_limits(p_waypoint)):
movel(p_waypoint, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_waypoint, p_exit))
else:
movel(p_approach, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_approach, p_exit))
end
movej(j_exit, a=rf_max_acceleration, v=rf_speed, r=0.01)
movel(p_boxfree3, a=rf_max_acceleration, v=rf_speed, r=GetBlend(p_boxfree3, p_boxfree2))
movel(p_boxfree2, a=rf_max_acceleration, v=rf_speed, r=0)
MovePerformed=True
end
end |
An example of a customPath.script, notice the use of MovePerformed at lines 80 and 94
To review how to use the custom path feature, refer to Customize the Robot's Path .